version: 66.13
glider: 133
mission: 5
dive: 12
start: 3 5 117 10 39 49
data:
$ID,133
$MISSION,5
$DIVE,12
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54382
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00174
$HD_B,0.0054000001
$HD_C,2.24e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,578.71039
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,3170
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,30
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,157
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,93
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3960
$C_VBD,2880
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-18.083
$PRESSURE_SLOPE,0.00011564888
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.090000004
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043768995
$SEABIRD_T_H,0.00063528348
$SEABIRD_T_I,2.4782157e-05
$SEABIRD_T_J,2.6511516e-06
$SEABIRD_C_G,-9.8739452
$SEABIRD_C_H,1.0990992
$SEABIRD_C_I,-0.0013875214
$SEABIRD_C_J,0.00019236583
$GPS1,050317,103400,1345.9229,6121.7178,42,1.2,49,-0.8,0.0,266.0,7,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-64.7
$GPS2,050317,103854,1345.9066,6121.6860,21,1.4,24,-0.8,0.0,247.5,6,9.7
$SPEED_LIMITS,0.173,0.318
$TGT_NAME,FLOAT
$TGT_LATLONG,1344.500,6120.400
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,213.6,3484,-13.6,-10.000,-17.88,1922
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.08,-136.5,145,2605,469,571,0.0,0.0,0,81,0.00,0.00,-72.05,0.000,16386,0.000,0.000,145,2605,3094,3139,3049,0,0,0,0,0,0,14.99,28.83,15.01
$GC,84,-1.09,-146.0,145,2605,3139,3049,3.1,-4.8,12,110,13.60,2.38,-6.93,0.000,19236,0.425,2.064,2926,1224,3478,3498,3459,0,0,0,0,0,0,14.59,13.97,14.74
$GC,297,-1.06,-146.0,2927,1224,3498,3460,34.2,-14.5,53,304,0.00,2.20,0.00,0.000,1158,0.000,0.044,2922,2599,3478,3498,3459,0,0,0,0,0,0,14.88,14.81,14.89
$GC,611,-1.00,-146.0,2922,2599,3498,3460,85.8,-17.3,94,621,0.12,2.00,0.00,0.000,2436,0.301,0.066,2945,3817,3479,3498,3460,0,0,0,0,0,0,14.76,14.88,14.88
$GC,655,-1.00,-146.0,2945,3817,3498,3460,93.4,-16.9,103,663,0.00,1.85,0.00,0.000,1030,0.000,0.028,2945,2587,3478,3498,3459,0,0,0,0,0,0,14.93,14.94,14.94
$GC,963,-1.00,-146.0,2945,2587,3498,3460,135.0,-11.7,134,966,0.00,2.05,0.00,0.000,516,0.000,0.031,2945,1232,3478,3498,3459,0,0,0,0,0,0,15.14,14.95,15.16
$GC,1013,-1.00,-146.0,2945,1228,3498,3459,140.9,-11.4,144,1017,0.00,2.15,0.00,0.000,1030,0.000,0.044,2940,2602,3478,3498,3459,0,0,0,0,0,0,15.00,14.93,15.02
$GC,1319,-1.00,-146.0,2939,2602,3498,3461,170.1,-7.5,175,1323,0.00,1.98,0.00,0.000,292,0.000,0.067,2931,3815,3479,3498,3461,0,0,0,0,0,0,15.17,14.95,15.19
$GC,1373,-1.00,-146.0,2930,3814,3498,3461,175.7,-11.1,186,1381,0.12,1.80,0.00,0.000,3078,0.262,0.028,2955,2593,3479,3498,3461,0,0,0,0,0,0,14.84,15.02,15.00
$GC,1680,-1.08,-146.0,2955,2593,3498,3462,212.3,-9.3,217,1685,0.00,2.00,0.00,0.000,420,0.000,0.066,2951,3815,3479,3498,3461,0,0,0,0,0,0,15.19,14.97,15.21
$GC,1912,-1.17,-146.0,2950,3814,3498,3462,237.2,-11.6,263,1917,0.15,1.77,0.00,0.000,5254,0.113,0.028,2879,2592,3480,3498,3462,0,0,0,0,0,0,15.01,15.04,15.05
$GC,2224,-1.12,-146.0,2879,2590,3498,3462,272.6,-10.4,281,2229,0.15,1.98,0.00,0.000,2436,0.241,0.063,2911,3813,3480,3498,3462,0,0,0,0,0,0,14.89,15.00,15.00
$GC,2250,-1.12,-146.0,2911,3814,3498,3462,274.8,-7.8,286,2257,0.00,1.77,0.00,0.000,1062,0.000,0.028,2911,2596,3480,3498,3462,0,0,0,0,0,0,15.09,15.05,15.09
$GC,2556,-1.12,-146.0,2911,2596,3498,3462,300.2,-9.2,297,2561,0.00,2.08,0.00,0.000,548,0.000,0.032,2912,1231,3480,3498,3462,0,0,0,0,0,0,15.23,15.04,15.25
$GC,2678,-1.16,-146.0,2911,1230,3498,3462,311.7,-9.4,321,2683,0.00,2.15,0.00,0.000,1190,0.000,0.044,2906,2602,3480,3499,3462,0,0,0,0,0,0,15.08,15.02,15.09
$GC,3010,-1.16,-146.0,2906,2601,3496,3462,344.4,-10.1,337,3014,0.00,1.95,0.00,0.000,260,0.000,0.067,2898,3808,3479,3496,3462,0,0,0,0,0,0,15.24,15.02,15.26
$GC,3133,-1.16,-146.0,2897,3808,3494,3462,354.8,-7.7,361,3137,0.00,1.77,0.00,0.000,1062,0.000,0.029,2898,2599,3478,3494,3462,0,0,0,0,0,0,15.10,15.07,15.11
$GC,3464,-1.16,-146.0,2897,2599,3491,3462,378.1,-7.8,377,3469,0.00,2.08,0.00,0.000,548,0.000,0.032,2898,1222,3476,3491,3462,0,0,0,0,0,0,15.24,15.05,15.26
$GC,3544,-1.16,-146.0,2897,1221,3491,3462,385.8,-10.0,393,3550,0.12,2.17,0.00,0.000,3110,0.260,0.043,2918,2600,3476,3490,3462,0,0,0,0,0,0,14.93,15.03,15.07
$GC,3858,-1.23,-146.0,2917,2600,3487,3462,411.7,-7.6,405,3862,0.00,1.98,0.00,0.000,420,0.000,0.068,2911,3815,3474,3487,3462,0,0,0,0,0,0,15.25,15.02,15.26
$GC,3892,-1.29,-146.0,2911,3814,3487,3461,414.4,-7.5,412,3897,0.10,1.80,0.00,0.000,5286,0.145,0.029,2859,2591,3474,3487,3462,0,0,0,0,0,0,15.04,15.09,15.09
$GC,4219,-1.26,-146.0,2859,2590,3484,3460,448.0,-11.7,427,4224,0.12,2.05,0.00,0.000,2692,0.257,0.030,2890,1231,3472,3484,3460,0,0,0,0,0,0,14.92,15.06,15.02
$GC,4238,-1.26,-146.0,2890,1230,3484,3459,450.8,-12.5,431,4246,0.00,2.17,0.00,0.000,1030,0.000,0.044,2887,2606,3471,3484,3459,0,0,0,0,0,0,15.10,15.04,15.11
$GC,4546,-1.26,-146.0,2886,2606,3483,3459,488.4,-11.8,442,4549,0.00,1.98,0.00,0.000,260,0.000,0.069,2878,3817,3470,3482,3459,0,0,0,0,0,0,15.25,15.02,15.27
$GC,4609,-1.26,-146.0,2877,3817,3482,3458,495.7,-11.4,455,4614,0.00,1.83,0.00,0.000,1030,0.000,0.029,2878,2600,3470,3482,3458,0,0,0,0,0,0,15.09,15.08,15.11
$GC,4937,-1.26,-146.0,2878,2600,3480,3457,525.1,-9.4,470,4938,0.00,0.00,0.00,0.000,38,0.000,0.000,2877,2600,3468,3480,3457,0,0,0,0,0,0,15.25,15.28,15.27
$GC,5236,-1.26,-146.0,2878,2600,3478,3455,557.3,-10.4,480,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2600,3466,3478,3455,0,0,0,0,0,0,15.26,15.28,15.28
$GC,5537,-1.26,-146.0,2878,2600,3476,3454,581.8,-7.6,490,5538,0.00,0.00,0.00,0.000,38,0.000,0.000,2878,2600,3465,3476,3454,0,0,0,0,0,0,15.26,15.28,15.28
$GC,5836,-1.26,-146.0,2878,2600,3475,3453,610.4,-10.6,500,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2600,3464,3475,3453,0,0,0,0,0,0,15.26,15.28,15.28
$GC,6136,-1.26,-146.0,2878,2600,3474,3451,643.6,-10.8,510,6140,0.00,2.00,0.00,0.000,260,0.000,0.067,2871,3817,3462,3474,3451,0,0,0,0,0,0,15.26,15.04,15.28
$GC,6170,-1.26,-146.0,2871,3817,3473,3450,647.5,-11.3,517,6176,0.08,1.85,0.00,0.000,3078,0.223,0.031,2891,2603,3461,3473,3450,0,0,0,0,0,0,14.92,15.09,15.03
$GC,6499,-1.31,-146.0,2891,2603,3472,3450,673.3,-7.1,532,6502,0.00,2.10,0.00,0.000,676,0.000,0.033,2892,1228,3460,3471,3450,0,0,0,0,0,0,15.25,15.06,15.28
$GC,6523,-1.35,-146.0,2892,1217,3472,3449,675.0,-6.6,537,6530,0.00,2.20,0.00,0.000,1190,0.000,0.044,2887,2602,3460,3472,3449,0,0,0,0,0,0,15.11,15.04,15.12
$GC,6830,-1.38,-146.0,2887,2601,3470,3448,695.9,-6.9,548,6833,0.00,2.10,0.00,0.000,676,0.000,0.033,2887,1234,3459,3470,3448,0,0,0,0,0,0,15.26,15.06,15.28
$GC,6870,-1.42,-146.0,2887,1221,3470,3448,699.1,-7.5,556,6875,0.10,2.20,0.00,0.000,5286,0.150,0.044,2832,2609,3459,3470,3448,0,0,0,0,0,0,15.04,15.04,15.10
$GC,7187,-1.36,-146.0,2831,2609,3469,3447,732.9,-11.6,569,7192,0.15,1.98,0.00,0.000,2436,0.272,0.066,2864,3816,3457,3468,3447,0,0,0,0,0,0,14.90,15.02,15.02
$GC,7226,-1.36,-146.0,2863,3816,3468,3447,737.7,-10.8,577,7232,0.00,1.85,0.00,0.000,1030,0.000,0.031,2863,2599,3457,3469,3446,0,0,0,0,0,0,15.09,15.07,15.10
$GC,7549,-1.36,-146.0,2864,2599,3468,3445,769.9,-10.0,591,7550,0.00,0.00,0.00,0.000,38,0.000,0.000,2863,2599,3456,3468,3445,0,0,0,0,0,0,15.25,15.27,15.27
$GC,7849,-1.36,-146.0,2864,2599,3467,3444,799.5,-9.8,601,7853,0.00,2.10,0.00,0.000,548,0.000,0.034,2864,1215,3455,3467,3443,0,0,0,0,0,0,15.25,15.06,15.27
$GC,7888,-1.36,-146.0,2864,1216,3467,3443,803.9,-10.9,609,7893,0.00,2.22,0.00,0.000,1030,0.000,0.044,2857,2598,3455,3467,3443,0,0,0,0,0,0,15.07,15.03,15.09
$GC,8210,-1.36,-146.0,2857,2598,3466,3441,838.2,-10.7,623,8214,0.00,1.98,0.00,0.000,260,0.000,0.069,2848,3809,3453,3466,3441,0,0,0,0,0,0,15.25,15.02,15.27
$GC,8294,-1.31,-146.0,2847,3809,3466,3440,847.9,-11.5,640,8301,0.15,1.83,0.00,0.000,3206,0.260,0.031,2881,2585,3453,3466,3441,0,0,0,0,0,0,14.91,15.07,15.07
$GC,8601,-1.35,-146.0,2881,2584,3464,3441,874.5,-8.4,651,8605,0.00,2.10,0.00,0.000,676,0.000,0.034,2882,1227,3452,3464,3441,0,0,0,0,0,0,15.24,15.04,15.26
$GC,8656,-1.39,-146.0,2881,1218,3464,3440,879.4,-9.5,662,8662,0.00,2.20,0.00,0.000,1190,0.000,0.044,2878,2600,3452,3464,3441,0,0,0,0,0,0,15.09,15.02,15.11
$GC,8962,-1.39,-146.0,2878,2600,3463,3440,907.2,-9.6,673,8966,0.00,1.98,0.00,0.000,292,0.000,0.069,2871,3809,3451,3463,3440,0,0,0,0,0,0,15.24,15.02,15.26
$GC,9000,-1.39,-146.0,2870,3809,3462,3440,911.6,-11.1,681,9006,0.00,1.85,0.00,0.000,1030,0.000,0.031,2870,2590,3451,3463,3440,0,0,0,0,0,0,15.09,15.07,15.09
$GC,9322,-1.39,-146.0,2870,2590,3462,3440,946.1,-11.1,695,9326,0.00,2.03,0.00,0.000,260,0.000,0.067,2865,3818,3451,3462,3440,0,0,0,0,0,0,15.24,15.02,15.26
$GC,9366,-1.39,-146.0,2865,3818,3462,3439,951.4,-11.7,704,9370,0.00,1.83,0.00,0.000,1030,0.000,0.030,2865,2606,3450,3461,3440,0,0,0,0,0,0,15.08,15.07,15.09
$GC,9683,-1.39,-146.0,2865,2605,3462,3439,983.8,-9.7,717,9684,0.00,0.00,0.00,0.000,38,0.000,0.000,2865,2606,3450,3461,3439,0,0,0,0,0,0,15.24,15.26,15.26
$STATE,9772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9772,begin apogee
$GC,9776,-0.33,0.0,2865,2380,3461,3439,992.3,-9.4,720,9911,0.80,0.00,131.48,1.659,10246,0.209,0.000,3094,2380,2879,2852,2907,0,0,0,0,0,0,14.91,14.25,13.67
$STATE,9912,end apogee,CONTROL_FINISHED_OK
$STATE,9912,begin climb
$GC,9913,1.09,146.0,3094,2379,2843,2900,993.8,0.0,724,10062,1.02,2.25,140.52,1.613,10756,0.122,0.041,3425,1059,2274,2222,2327,0,0,0,0,0,0,14.23,14.15,13.57
$GC,10082,0.92,146.0,3424,1059,2215,2314,972.7,16.7,752,10087,0.25,2.25,0.00,0.000,5254,0.311,0.042,3374,2408,2264,2215,2313,0,0,0,0,0,0,14.14,14.29,14.33
$GC,10405,0.82,146.0,3374,2408,2208,2305,920.4,16.3,766,10411,0.12,2.17,0.00,0.000,4740,0.340,0.037,3352,1048,2256,2207,2305,0,0,0,0,0,0,14.58,14.73,14.71
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$STATE,18147,end climb,SURFACE_DEPTH_REACHED
$STATE,18147,begin surface coast
$FINISH,0.3,1.023964
$STATE,18170,end surface coast,CONTROL_FINISHED_OK
$STATE,18170,begin surface
$SM_CCo,18186,135.73,0.083,0,0,519,578.90
$SM_GC,1.41,9.45,0.30,135.73,0.079,0.081,0.083,145,2606,519,-13.85,-1.39,578.90,0,0,0,0,0,0,14.86,14.92,14.81
$IRIDIUM_FIX,1338.63,6121.95,050317,062537
$TT8_MAMPS,0.023968,0.205226
$HUMID,44.88
$INTERNAL_PRESSURE,8.94355
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.57,4.341
$10V_AH,13.68,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.225,171.950,370.925,135.725,0.000,0.000,0.000,207.700,0.000,0.000,25.408,2758.011,12866.221,696.390,2243.890,86.111,0.000,2031.028,0.000,1983.179,0.000,0.549,0.000
$DEVICE_MAMPS,425.340,2063.970,1659.285,82.620,0.000,0.000,0.000,153.000,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,646.133,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,194732
$DATA_FILE_SIZE,59996,1391
$CAP_FILE_SIZE,174403,0
$CFSIZE,260034560,258236416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.095,359.19,1
$GPS,050317,154629,1344.503,6119.677,38,1.0,44,-0.8,0.3,264.9,7,9.3